Adaptive friction compensation using the GMS model with polynomial stribeck function

Abstract

An adaptive friction compensator is proposed using the generalized Maxwell-slip (GMS) friction model, with a new, linearly-parameterized Stribeck function. It employs a polynomial equation that is linear-in-the-parameter to describe the nonlinear Stribeck effect in the GMS model, and simplifies the design of an adaptive friction compensator. The proposed compensator has a switching structure to accomodate for the hybrid nature of the GMS model, and the parameter projection method is used to guarantee a boundedness on parameter estimates and stability of the switching adaptive controller. The validity and effectiveness of the proposed, linearlyparameterized friction compensator is verified by simulations for the velocity control of an inertia system under the influence of dynamic friction.

Static Friction in a Cable-Driven Transmission—Modeling and Identification of Load Effects

“…In the past decades, many researchers have worked on modeling and experimental identification of the friction phenomenon [1][2][3][4][5][6][7][8][9]. These models and some of their variations have been widely used for friction modeling in industrial robots [10][11][12][13][14][15].…”

“…Seven parameters are used to describe the LuGre model, as shown in Table 1. θ is generally modeled by Equation (3).…”

Identification of GMS friction model using a new switching function: experimental investigation

“…In fact, Nilkhamhang and Sano (2007) proposed an adaptive compensation using the GMS model in which they assumed the dynamic component of the friction as perturbation and the friction was described by the static component only. This assumption, however, was very restrictive because the effect of dynamic friction is very important in systems with very slow velocity.…”